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    PX4 stops running

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    • kestrelsystemsbpK
      kestrelsystemsbp @tom
      last edited by

      @tom Screenshot 2025-03-24 161036.png Screenshot 2025-03-24 161001.png

      1 Reply Last reply Reply Quote 0
      • kestrelsystemsbpK
        kestrelsystemsbp @Eric Katzfey
        last edited by

        @Eric-Katzfey Have not done any modifications to the software other than basic setup stuff for QGC.

        Eric KatzfeyE tomT 2 Replies Last reply Reply Quote 0
        • Eric KatzfeyE
          Eric Katzfey ModalAI Team @Eric Katzfey
          last edited by

          @Eric-Katzfey said in PX4 stops running:

          What version of the VOXL SDK is installed?

          kestrelsystemsbpK 1 Reply Last reply Reply Quote 0
          • Eric KatzfeyE
            Eric Katzfey ModalAI Team @kestrelsystemsbp
            last edited by

            @kestrelsystemsbp said in PX4 stops running:

            basic setup stuff for QGC

            What changes were made for that?

            1 Reply Last reply Reply Quote 0
            • tomT
              tom admin @kestrelsystemsbp
              last edited by

              @kestrelsystemsbp Would also be helpful to see the contents of /usr/bin/voxl-px4-start

              kestrelsystemsbpK 1 Reply Last reply Reply Quote 0
              • kestrelsystemsbpK
                kestrelsystemsbp @tom
                last edited by

                @tom
                #!/bin/sh

                PX4 commands need the 'px4-' prefix in bash.

                (px4-alias.sh is expected to be in the PATH)

                . px4-alias.sh

                echo -e "\n*************************"
                echo "AIRFRAME: $AIRFRAME"
                echo "GPS: $GPS"
                echo "RC: $RC"
                echo "ESC: $ESC"
                echo "POWER MANAGER: $POWER_MANAGER"
                echo "AIRSPEED SENSOR: $AIRSPEED_SENSOR"
                echo "DISTANCE SENSOR: $DISTANCE_SENSOR"
                echo "OSD: $OSD"
                echo "ARTIFACT_MODE: $ARTIFACT_MODE"
                echo "EXTRA STEPS:"
                for i in "${EXTRA_STEPS[@]}"
                do
                echo -e "\t$i"
                done
                echo -e "*************************\n"

                In order to just exit after starting the uorb / muorb modules define

                the environment variable MINIMAL_PX4. (e.g. export MINIMAL_PX4=1)

                This is useful for testing / debug where you may want to start drivers

                and modules manually from the px4 command shell

                if [ ! -z $MINIMAL_PX4 ]; then
                /bin/echo "Running minimal script"
                exit 0
                fi

                Figure out what platform we are running on.

                PLATFORM=/usr/bin/voxl-platform 2> /dev/null
                RETURNCODE=$?
                if [ $RETURNCODE -ne 0 ]; then
                # If we couldn't get the platform from the voxl-platform utility then check
                # /etc/version to see if there is an M0052 substring in the version string. If so,
                # then we assume that we are on M0052.
                VERSIONSTRING=$(</etc/version)
                M0052SUBSTRING="M0052"
                if [[ "$VERSIONSTRING" == "$M0052SUBSTRING" ]]; then
                PLATFORM="M0052"
                fi
                fi

                We can only run on M0052, M0054, or M0104 so exit with error if that is not the case

                if [ $PLATFORM = "M0052" ]; then
                /bin/echo "Running on M0052"
                elif [ $PLATFORM = "M0054" ]; then
                /bin/echo "Running on M0054"
                elif [ $PLATFORM = "M0104" ]; then
                /bin/echo "Running on M0104"
                else
                /bin/echo "Error, cannot determine platform!"
                exit 0
                fi

                Sleep a little here. A lot happens when the uorb and muorb start

                and we need to make sure that it all completes successfully to avoid

                any possible race conditions.

                /bin/sleep 1

                param select /data/px4/param/parameters

                Load in all of the parameters that have been saved in the file

                param load

                if [ "$ARTIFACT_MODE" == "ENABLE" ]; then
                # Do not start the logger module if we are in artifact mode. Logging
                # produces a log artifact. If there are currently any saved logs make
                # sure to delete them now.
                # Also remove the data manager file that may have saved GPS waypoint information
                # in it.
                # Use shred to remove all files so that they cannot be recovered.
                # shred should be effective on the /data partition since it has this configuration:
                # /dev/sda8 /data ext4 rw,nosuid,nodev,noatime,discard,noauto_da_alloc,data=ordered 0 0
                /usr/bin/find /data/px4/log -name "*.ulg" -exec /usr/bin/shred -u -n 7 {} ;
                /bin/rm -fR /data/px4/log
                /usr/bin/shred -u -n 7 /data/px4/dataman
                /bin/echo "Artifact mode has been enabled"
                else
                # Start logging and use timestamps for log files when possible.
                # Add the "-e" option to start logging immediately. Default is
                # to log only when armed. Caution must be used with the "-e" option
                # because if power is removed without stopping the logger gracefully then
                # the log file may be corrupted.
                logger start -t
                fi

                IMU (accelerometer / gyroscope)

                if [ "$PLATFORM" == "M0104" ]; then
                /bin/echo "Starting IMU driver with rotation 12"
                qshell icm42688p start -s -R 12
                else
                /bin/echo "Starting IMU driver with no rotation"
                qshell icm42688p start -s
                fi

                Start Invensense ICP 101xx barometer built on to VOXL 2

                qshell icp101xx start -I -b 5

                Auto detect the magnetometer. If one or both of these devices

                are not connected it will fail but not cause any harm.

                /bin/echo "Looking for qmc5883l magnetometer"
                qshell qmc5883l start -R 10 -X -b 1
                /bin/echo "Looking for ist8310 magnetometer"
                qshell ist8310 start -R 10 -X -b 1

                GPS and magnetometer

                if [ "$GPS" != "NONE" ]; then
                # On M0052 the GPS driver runs on the apps processor
                if [ $PLATFORM = "M0052" ]; then
                gps start -d /dev/ttyHS2
                # On M0054 and M0104 the GPS driver runs on SLPI DSP
                else
                qshell gps start
                fi
                fi

                Auto detect an ncp5623c i2c RGB LED. If one isn't connected this will

                fail but not cause any harm.

                /bin/echo "Looking for ncp5623c RGB LED"
                qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56

                We do not change the following parameters but QGC will complain if they aren't

                being reported as "used" by px4. "Touching" them accomplishes that.

                param touch SYS_AUTOCONFIG
                param touch SDLOG_MODE

                ESC driver

                if [ "$ESC" == "VOXL_ESC" ]; then
                /bin/echo "Starting VOXL ESC driver"
                qshell voxl_esc start
                elif [ "$ESC" == "VOXL2_IO_PWM_ESC" ]; then
                if [ "$RC" == "M0065_SBUS" ]; then
                /bin/echo "Starting VOXL IO for PWM ESC with SBUS RC"
                qshell voxl2_io start
                else
                /bin/echo "Starting VOXL IO for PWM ESC without SBUS RC"
                qshell voxl2_io start -e
                fi
                else
                /bin/echo "No ESC type specified, not starting an ESC driver"
                fi

                RC driver

                if [ "$RC" == "FAKE_RC_INPUT" ]; then
                /bin/echo "Starting fake RC driver"
                qshell rc_controller start
                elif [ "$RC" == "CRSF_RAW" ]; then
                /bin/echo "Starting CRSF RC driver"
                qshell crsf_rc start -d 7
                elif [ "$RC" == "CRSF_MAV" ]; then
                /bin/echo "Starting TBS crossfire RC - MAV Mode"
                qshell mavlink_rc_in start -m -p 7 -b 115200
                elif [ "$RC" == "SPEKTRUM" ]; then
                /bin/echo "Starting Spektrum RC"
                # On M0052 the RC driver runs on the apps processor
                if [ $PLATFORM = "M0052" ]; then
                rc_input start -d /dev/ttyHS1
                # On M0054 and M0104 the RC driver runs on SLPI DSP
                else
                qshell spektrum_rc start
                fi
                elif [ "$RC" == "GHST" ]; then
                /bin/echo "Starting GHST RC driver"
                qshell ghst_rc start -d 7
                elif [ "$RC" == "M0065_SBUS" ]; then
                if [ $PLATFORM = "M0052" ]; then
                apps_sbus start
                elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
                /bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
                qshell dsp_sbus start
                retVal=$?
                if [ $retVal -ne 0 ]; then
                /bin/echo "Starting M0065 SBUS RC driver for original M0065 FW failed"
                /bin/echo "Attempting to start M0065 SBUS RC driver for new M0065 FW"
                qshell voxl2_io start -d -p 7
                fi
                else
                /bin/echo "M0065 SBUS RC driver already started with PWM ESC start"
                fi
                fi

                if [ "$DISTANCE_SENSOR" == "LIGHTWARE_SF000" ]; then
                # Make sure to set the parameter SENS_EN_SF0X to 8 for sf000/b sensor
                qshell lightware_laser_serial start -d 7
                fi

                if [ "$POWER_MANAGER" == "VOXLPM" ]; then
                # APM power monitor
                qshell voxlpm start -X -b 2
                fi

                if [ "$AIRSPEED_SENSOR" == "MS4525DO" ]; then
                qshell ms4525do start -X -b 4
                fi

                Optional distance sensor on spare i2c

                qshell vl53l0x start -X -b 4

                qshell vl53l1x start -X -b 4

                Start all of the processing modules on DSP

                qshell sensors start
                qshell ekf2 start

                if [ "$AIRFRAME" == "FIXED_WING" ]; then
                qshell fw_pos_control start
                qshell fw_att_control start
                qshell fw_rate_control start
                qshell airspeed_selector start
                qshell fw_autotune_attitude_control start
                qshell land_detector start fixedwing
                elif [ $AIRFRAME = "MULTICOPTER" ]; then
                qshell mc_pos_control start
                qshell mc_att_control start
                qshell mc_rate_control start
                qshell mc_hover_thrust_estimator start
                qshell mc_autotune_attitude_control start
                qshell land_detector start multicopter
                fi

                qshell manual_control start
                qshell control_allocator start
                qshell load_mon start

                Only start the rc_update module if an actual RC driver

                is publishing input_rc topics. Otherwise for external RC

                over Mavlink this isn't needed.

                if [ "$RC" != "EXTERNAL" ]; then
                qshell rc_update start
                fi

                qshell commander start

                This is needed for altitude and position hold modes

                qshell flight_mode_manager start

                Start all of the processing modules on the applications processor

                dataman start
                navigator start
                load_mon start

                This bridge allows raw data packets to be sent over UART to the ESC

                modal_io_bridge start

                Start microdds_client for ros2 offboard messages from agent over localhost

                microdds_client start -t udp -h 127.0.0.1 -p 8888

                On M0052 there is only one IMU. So, PX4 needs to

                publish IMU samples externally for VIO to use.

                if [ $PLATFORM = "M0052" ]; then
                imu_server start
                fi

                start the onboard fast link to connect to voxl-mavlink-server

                mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard

                slow down some of the fastest streams

                mavlink stream -u 14556 -s HIGHRES_IMU -r 10
                mavlink stream -u 14556 -s ATTITUDE -r 10
                mavlink stream -u 14556 -s ATTITUDE_QUATERNION -r 10
                mavlink stream -u 14556 -s GLOBAL_POSITION_INT -r 30
                mavlink stream -u 14556 -s SCALED_PRESSURE -r 10

                start the slow normal mode for voxl-mavlink-server to forward to GCS

                mavlink start -x -u 14558 -o 14559 -r 100000 -n lo

                mavlink boot_complete

                Optional MSP OSD driver for DJI or HDZero goggles

                This is only supported on M0054 (with M0125 accessory board)

                if [ "$OSD" == "ENABLE" ] || [ "$OSD" == "DJI" ]; then
                /bin/echo "Starting DJI OSD driver"
                msp_osd start -d /dev/ttyHS1
                elif [ "$PLATFORM" == "M0054" ] && [ "$OSD" == "HDZERO" ] || [ "$OSD" == "DJI_MSP_DP" ]; then
                /bin/echo "Starting $OSD OSD driver for $PLATFORM"
                msp_dp_osd start -d /dev/ttyHS1
                elif [ "$PLATFORM" == "M0104" ] && [ "$OSD" == "HDZERO" ] || [ "$OSD" == "DJI_MSP_DP" ] ; then
                /bin/echo "Starting $OSD OSD driver for $PLATFORM"
                msp_dp_osd start -d /dev/ttyHS0
                fi

                Start optional EXTRA_STEPS

                for i in "${EXTRA_STEPS[@]}"
                do
                $i
                done

                1 Reply Last reply Reply Quote 0
                • kestrelsystemsbpK
                  kestrelsystemsbp @Eric Katzfey
                  last edited by

                  @Eric-Katzfey sdk.png

                  Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                  • Eric KatzfeyE
                    Eric Katzfey ModalAI Team @kestrelsystemsbp
                    last edited by

                    @kestrelsystemsbp Perhaps you can do a fresh installation on 1.3.5 and see if the problem goes away? v1.3.5 has a lot of test time on it and nothing like the issue you are seeing has been encountered by us or any of our customers so this is a bit of a mystery. I would try the fresh install and, without making any modifications at all, see if it comes up and stays up. If so you can start introducing any configuration changes you need one by one to see if any of them are causing the issue.

                    kestrelsystemsbpK 1 Reply Last reply Reply Quote 0
                    • kestrelsystemsbpK
                      kestrelsystemsbp @Eric Katzfey
                      last edited by

                      @Eric-Katzfey How do I do that?

                      tomT 1 Reply Last reply Reply Quote 0
                      • tomT
                        tom admin @kestrelsystemsbp
                        last edited by

                        @kestrelsystemsbp You can download the SDK from downloads.modalai.com,

                        Untar it with tar -xzvf voxl2_SDK_1.3.5.tar.gz

                        cd voxl2_SDK_1.3.5

                        Install it with ./install.sh

                        Although if there isn't a specific reason you're on 1.3.5, I would recommend updating to 1.4.1

                        kestrelsystemsbpK 1 Reply Last reply Reply Quote 0
                        • kestrelsystemsbpK
                          kestrelsystemsbp @tom
                          last edited by

                          @tom That did the trick, thanks for the help!

                          1 Reply Last reply Reply Quote 0
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